1. HYSWEEP ® HARDWARE

2. HYSWEEP ® Survey Configuring a Multibeam System Multibeam sonar GPS (via HYPACK hardware) Motion sensor Heading sensor Dynamic Draft (via HYPACK Hardware) Tide (via HYPACK Hardware) Also: Scanning Laser For Topographic Survey SV: Sensor and/or Profile

3. Time MRU, HDG, Nadir Depth POS, TIDE DRAFT Pos Time HDG MBHPR HYPACK SURVEY HYSWEEP SURVEY GPS MRUMBGYRO

4. Interfacing Bringing in the data Network: For high volume data like multibeam. Data is received with UTC time tag. Serial RS-232: For lower data volume like GPS. Typically, Motion and Heading messages do not contain time tags. Data gets timed at arrival to COM port. Exception is GPS ($GPGGA has a UTC time tag). Time Tagging Very Important. Device data are correlated by time tags. All devices must use the same time base – UTC time or PC time. Without it, data will not be good Network and COM inputs POS MB MRU + time Asynchronous data are correlated with time tags.

5. Do I Need to Synch My Clock to UTC? If you have a device that sends datagrams with UTC time stamps, then the answer is: Yes Examples of when time synch to UTC is required: GPS (UTC), Seabat (UTC), TSS DMS/05 (No time sent), Gyro (No time sent). POS/MV (UTC), Seabat (UTC), Single beam on a COM port (No time sent). You can improve your time synchronization from +/- 10mSec to +/- 1mSec by using a HYPACK 1PPS Box.

6. Reson Seabat 7125 HYPACK ® / HYSWEEP ® Computer POS/MV Inertial System Seabat 7125 Position, Time Sync, Heading, Motion Groups (3,7,10,20,102) Multibeam Data HYPACK does NOT require 1PPS Motion Key RS-232 Network BNC (1 PPS) 1 PPS Time Sync (ZDA) Note: HYSWEEP.dll is not required. However, can still be used.

7. Kongsberg EM3002 Sonar, Heading & HPR HYPACK ® / HYSWEEP ® Computer Key RS-232 Network BNC (1 PPS) HYPACK does NOT require 1PPS Position (GGA) Time Sync (ZDA) GPS Sonar Heading & HPR Note: HYSWEEP.dll is not required. However, can still be used. Kongsberg EM3002

8. R2Sonic with 1PPS Box (example) HYPACK requires time sync and needs a PPS box. HYPACK ® / HYSWEEP ® Computer Sonar Data Key RS-232 Network BNC (1 PPS) Position (GGA) Speed (VTG) Time Sync (ZDA) Note: HYSWEEP.dll is not required. However, can still be used. R2Sonic 2022/2024 Heading TSS DMS/05 (HPR) Motion (TSS) 1PPS Box GPS w/heading PPS To aid Motion (HDT, VTG & GGA)

9. Reson 8101 with 1PPS Box: HYPACK requires time sync and needs a PPS box. Time Sync HYPACK ® / HYSWEEP ® Computer Sonar Data TSS DMS/05 (HPR) SG Brown Gyro (HDT) Key RS-232 Network BNC (1 PPS) GPS 1PPS Box Position (GGA) Time Sync (ZDA) Note: HYSWEEP.dll is not required. However, can still be used. Seabat 8101

10. Offsets Adjustment for: Boat Origin (AKA Reference Point): Vessel Center of Gravity XY. Static waterline Z. Device Location: Offsets in X, Y and Z measured from boat origin. Device Rotation: Pitch, roll and yaw orientation of directional devices such as multibeam sonar. Device Latency: Time delay = data arrival time – data valid time. Tracking Point: XY location of the sonar head. Used in Survey to adjust the Left/Right indicator. Entered in HYPACK HARDWARE – Boat - Mobile “Red Rogers” and drawing (device locations).

11. MRU Multibeam TRANSDUCER +X +X +Y +Z MRU is at boat origin, tracking point is over the transducer. Boat Reference System Tracking Point Boat Origin & Tracking Point

12. HYPACK ® Hardware Combined Hardware program will set the hardware for both HYPACK ® and HYSWEEP ®. System Tab:  Include HYSWEEP Survey Main page:  Configure HYPACK devices and then HYSWEEP devices Note: No need to re-enter offsets in HYSWEEP for navigation device

13. HARDWARE Positioning Devices: GPS.DLL for position from COM port. (Heading and RTK Tide if needed.) POSMV.DLL for POS/MV positions over a network. (RTK Tide if needed.) F180.DLL for F-180 positions over a network. (RTK Tide if needed.) NOVATEL-SPAN.DLL for Novatel positions. (RTK Tide if needed.) Select Time Synch option on the HYPACK configuration page. Enter Tracking Point offsets (Multibeam Head Offsets) on Mobile tab for BOAT

14. HARDWARE (Configure HYSWEEP ® ) Configure the HYSWEEP ® Survey section of HARDWARE for a Multibeam, Motion sensor and Heading. Select from Manufacturer/Model list and “Add” to the INSTALLED section. Note: Sonar multibeam systems may include MRU and Heading on their driver Do not need HYPACK ® Navigation device. It is automatically included in the hardware program.

15. Multibeam Device Setup Button: Use the Setup button to enter manufacturer specific information. Connect: Most sonars are network. Determined the correct Port Number and Internet Address required for TCP/IP devices. Refer to “HYSWEEP Interfacing.pdf” for details.

16. Multibeam Device – Offsets Tab Select Sonar Head 1 or 2. Enter Location offsets measured from boat reference. Enter Rotation offsets from Patch Test. Latency should be zero. (Navigation Latency is handled in the GPS set-up)

17. Motion and Heading Sensors Devices: Select the driver, if listed. If not…  The “TSS1” message is standard for Heave, Pitch and Roll (TSS DMS driver).  The NMEA “HDT” message is standard for Heading (NMEA-0183 Gyro driver).  The Generic Attitude can be configured to parse ASCII datagrams Connect: Enter Network or COM settings. Remember “HYSWEEP Interfacing.pdf”. Offsets: MRU Location offsets measured from boat reference. MRU Rotation offsets can be used to “zero” Pitch and Roll. Heading Rotation offset (Yaw) can be used to correct to grid north.

18. Testing and Saving… CONNECT Tab: Use COM Test and Network test to verify sensor is sending data Alternate Hardware Configurations: You can Open and Save alternate configurations using the IMPORT and EXPORT

19. A Sample Session